research-article

Designing cable-driven actuation networks for kinematic chains and trees

Authors:

Vittorio Megaro,

Andrew Spielberg,

David I. W. Levin,

Wojciech Matusik,

Bernhard Thomaszewski,

Moritz BächerAuthors Info & Claims

SCA '17: Proceedings of the ACM SIGGRAPH / Eurographics Symposium on Computer Animation

Article No.: 15, Pages 1 - 10

https://doi.org/10.1145/3099564.3099576

Published: 28 July 2017 Publication History

Abstract

In this paper we present an optimization-based approach for the design of cable-driven kinematic chains and trees. Our system takes as input a hierarchical assembly consisting of rigid links jointed together with hinges. The user also specifies a set of target poses or keyframes using inverse kinematics. Our approach places torsional springs at the joints and computes a cable network that allows us to reproduce the specified target poses. We start with a large set of cables that have randomly chosen routing points and we gradually remove the redundancy. Then we refine the routing points taking into account the path between poses or keyframes in order to further reduce the number of cables and minimize required control forces. We propose a reduced coordinate formulation that links control forces to joint angles and routing points, enabling the co-optimization of a cable network together with the required actuation forces. We demonstrate the efficacy of our technique by designing and fabricating a cable-driven, animated character, an animatronic hand, and a specialized gripper.

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Cited By

Zhang WCangan BBuchner TKübler AAsmus RKatzschmann R(2024)Task-defined Pulley Design for Nonlinearly Coupled Tendon-driven Actuation2024 IEEE 7th International Conference on Soft Robotics (RoboSoft)10.1109/RoboSoft60065.2024.10522021(220-227)Online publication date: 14-Apr-2024
https://doi.org/10.1109/RoboSoft60065.2024.10522021
Atanov AFu JSingh RYu ISpielberg AZamir A(2024)How Far Can a 1-Pixel Camera Go? Solving Vision Tasks Using Photoreceptors and Computationally Designed Visual MorphologyComputer Vision – ECCV 202410.1007/978-3-031-72904-1_27(458-476)Online publication date: 21-Nov-2024
https://doi.org/10.1007/978-3-031-72904-1_27
Kim YKim DKim JOh NChoi M(2023)Simulating tentacle Creature with External Magnetism for AnimatronicsJournal of the Korea Computer Graphics Society10.15701/kcgs.2023.29.5.129:5(1-9)Online publication date: 1-Dec-2023
https://doi.org/10.15701/kcgs.2023.29.5.1
Show More Cited By

Index Terms

Designing cable-driven actuation networks for kinematic chains and trees
1. Computing methodologies
  1. Computer graphics
    1. Animation
      1. Physical simulation

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Published In

cover image ACM Conferences

SCA '17: Proceedings of the ACM SIGGRAPH / Eurographics Symposium on Computer Animation

July 2017

212 pages

ISBN:9781450350914

DOI:10.1145/3099564

Conference Chairs:
Joseph Teran
UCLA
,
Changxi Zheng
Columbia University
,
Editor:
Stephen N. Spencer
University of Washington
,
Program Chairs:
Bernhard Thomaszewski
Disney Research Zurich
,
KangKang Yin
National University of Singapore

Copyright © 2017 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than the author(s) must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected].

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SIGGRAPH: ACM Special Interest Group on Computer Graphics and Interactive Techniques
EUROGRAPHICS: The European Association for Computer Graphics

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Association for Computing Machinery

New York, NY, United States

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Published: 28 July 2017

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European Commission, Horizon 2020 Framework Programme

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SCA '17

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SIGGRAPH
EUROGRAPHICS

SCA '17: The ACM SIGGRAPH / Eurographics Symposium on Computer Animation

July 28 - 30, 2017

California, Los Angeles

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Overall Acceptance Rate 183 of 487 submissions, 38%

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Cited By

Zhang WCangan BBuchner TKübler AAsmus RKatzschmann R(2024)Task-defined Pulley Design for Nonlinearly Coupled Tendon-driven Actuation2024 IEEE 7th International Conference on Soft Robotics (RoboSoft)10.1109/RoboSoft60065.2024.10522021(220-227)Online publication date: 14-Apr-2024
https://doi.org/10.1109/RoboSoft60065.2024.10522021
Atanov AFu JSingh RYu ISpielberg AZamir A(2024)How Far Can a 1-Pixel Camera Go? Solving Vision Tasks Using Photoreceptors and Computationally Designed Visual MorphologyComputer Vision – ECCV 202410.1007/978-3-031-72904-1_27(458-476)Online publication date: 21-Nov-2024
https://doi.org/10.1007/978-3-031-72904-1_27
Kim YKim DKim JOh NChoi M(2023)Simulating tentacle Creature with External Magnetism for AnimatronicsJournal of the Korea Computer Graphics Society10.15701/kcgs.2023.29.5.129:5(1-9)Online publication date: 1-Dec-2023
https://doi.org/10.15701/kcgs.2023.29.5.1
Maloisel GSchumacher CKnoop EGrandia RBächer M(2023)Optimal Design of Robotic Character KinematicsACM Transactions on Graphics10.1145/361840442:6(1-15)Online publication date: 5-Dec-2023
https://dl.acm.org/doi/10.1145/3618404
Maloisel GKnoop ESchumacher CBacher M(2021)Automated Routing of Muscle Fibers for Soft RobotsIEEE Transactions on Robotics10.1109/TRO.2020.304365437:3(996-1008)Online publication date: Jun-2021
https://doi.org/10.1109/TRO.2020.3043654
Lloyd JRoewer-Despres FStavness I(2021)Muscle Path Wrapping on Arbitrary SurfacesIEEE Transactions on Biomedical Engineering10.1109/TBME.2020.300992268:2(628-638)Online publication date: Feb-2021
https://doi.org/10.1109/TBME.2020.3009922
Ramadoss VSagar KIkbal MZlatanov DZoppi M(2021)Modeling and Stiffness Evaluation Of Tendon-Driven Robot For Collaborative Human-Robot Interaction2021 IEEE International Conference on Intelligence and Safety for Robotics (ISR)10.1109/ISR50024.2021.9419387(233-238)Online publication date: 4-Mar-2021
https://doi.org/10.1109/ISR50024.2021.9419387
Bächer MKnoop ESchumacher C(2021)Design and Control of Soft Robots Using Differentiable SimulationCurrent Robotics Reports10.1007/s43154-021-00052-7Online publication date: 10-May-2021
https://doi.org/10.1007/s43154-021-00052-7
Buzdalov MKolyubin SEgorov ABorisov I(2020)Optimizing Robotic Cheetah Leg Parameters Using Evolutionary AlgorithmsBioinspired Optimization Methods and Their Applications10.1007/978-3-030-63710-1_17(214-227)Online publication date: 16-Nov-2020
https://doi.org/10.1007/978-3-030-63710-1_17
Uhlig RZentner LWolfenstetter M(2020)Modelling and Investigation of a Compliant Cable-Driven Finger-Like MechanismMicroactuators, Microsensors and Micromechanisms10.1007/978-3-030-61652-6_4(36-47)Online publication date: 14-Oct-2020
https://doi.org/10.1007/978-3-030-61652-6_4
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